118,830 research outputs found
Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot
100學年度研究獎補助論文[[abstract]]In the paper, a novel moving object detection (MOD) algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM). The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.[[incitationindex]]SCI[[incitationindex]]EI[[booktype]]電子版[[booktype]]紙
A simple and efficient eye detection method in color images
International audienceIn this paper we propose a simple and efficient eye detection method for face detection tasks in color images. The algorithm first detects face regions in the image using a skin color model in the normalized RGB color space. Then, eye candidates are extracted within these regions. Finally, using the anthrophological characteristics of human eyes, the pairs of eye regions are selected. The proposed method is simple and fast, since it needs no template matching step for face verification. It is robust because it can deals with face rotation. Experimental results show the validity of our approach, a correct eye detection rate of 98.4% is achieved using a subset of the AR face database
Crystal image analysis using synchrosqueezed transforms
We propose efficient algorithms based on a band-limited version of 2D
synchrosqueezed transforms to extract mesoscopic and microscopic information
from atomic crystal images. The methods analyze atomic crystal images as an
assemblage of non-overlapping segments of 2D general intrinsic mode type
functions, which are superpositions of non-linear wave-like components. In
particular, crystal defects are interpreted as the irregularity of local
energy; crystal rotations are described as the angle deviation of local wave
vectors from their references; the gradient of a crystal elastic deformation
can be obtained by a linear system generated by local wave vectors. Several
numerical examples of synthetic and real crystal images are provided to
illustrate the efficiency, robustness, and reliability of our methods.Comment: 27 pages, 17 figure
A Novel Method for the Absolute Pose Problem with Pairwise Constraints
Absolute pose estimation is a fundamental problem in computer vision, and it
is a typical parameter estimation problem, meaning that efforts to solve it
will always suffer from outlier-contaminated data. Conventionally, for a fixed
dimensionality d and the number of measurements N, a robust estimation problem
cannot be solved faster than O(N^d). Furthermore, it is almost impossible to
remove d from the exponent of the runtime of a globally optimal algorithm.
However, absolute pose estimation is a geometric parameter estimation problem,
and thus has special constraints. In this paper, we consider pairwise
constraints and propose a globally optimal algorithm for solving the absolute
pose estimation problem. The proposed algorithm has a linear complexity in the
number of correspondences at a given outlier ratio. Concretely, we first
decouple the rotation and the translation subproblems by utilizing the pairwise
constraints, and then we solve the rotation subproblem using the
branch-and-bound algorithm. Lastly, we estimate the translation based on the
known rotation by using another branch-and-bound algorithm. The advantages of
our method are demonstrated via thorough testing on both synthetic and
real-world dataComment: 10 pages, 7figure
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